#!/bin/bash
PATH=/bin:/sbin:/usr/bin:/usr/sbin:/usr/local/bin:/usr/local/sbin:~/bin
export PATH
GOLO_Ver='0.3'
. /opt/openresty/nginx/scripts/golo.conf
source $ROS_PATH
source $ROS_GOLO_WS_PATH
export ROS_IP=$ROSIP
ecuswith=`rosparam get /ecu_swith`
rosparam set /ecu_swith true
if [ $ecuswith = false ];then
 rosparam set /ecu_swith true
fi
rosrun dynamic_reconfigure dynparam load /move_base/TebLocalPlannerROS $GOLO_WS_PATH/golo/golo_nav/src/$fristspeed
rosservice call /move_base/clear_costmaps
rosnode kill /scan_multi_merged
sleep 1
roslaunch merged_percept null_scan_relay.launch  &
rosservice call /move_base/clear_costmaps
sleep 1
rosservice call /move_base/clear_costmaps


